JP6908027B2 - Motion measuring device, information processing device and motion measuring method - Google Patents

Description

The present technology relates to, for example, a motion measuring device, an information processing device, and a motion measuring method for measuring a user's body movement.

In recent years, in the fields of sports science, human science, etc., the development of a device for analyzing the movement of a person or an object has been promoted. This type of device is an inertial sensor type that measures motion from the output of an acceleration sensor or gyro sensor attached to the detection target, and multiple markers attached to the detection target are photographed with a camera and the camera image is processed. An optical type that measures motion is known.

For example, in Patent Document 1, swing feature information is calculated based on the output data of a sensor unit that detects a swing of a golf club or the like, the swing feature information is compared with the reference swing feature information, and the comparison result is displayed. A swing analysis device that displays on a unit or outputs a sound, a voice message, music, or the like is disclosed.

JP 2015-57193

However, in the swing analysis device described in Patent Document 1, since the swing feature information is calculated from the entire series of movements from the start to the end of the swing, the posture of the club that changes from moment to moment in the process of the swing movement It is difficult to intuitively grasp the quality of the orbit.

In view of the above circumstances, an object of the present technology is to provide a motion measuring device, an information processing device, and a motion measuring method capable of more intuitively grasping the motion posture and the trajectory of the detection target.

The motion measuring device according to one embodiment of the present technology includes a detection unit, a control unit, and an output unit.
The detection unit is attached to the detection target and detects speed-related information related to the time change of the speed of the detection target in the triaxial direction, which moves in space.
The control unit extracts a kinematic feature quantity including one or a plurality of kinematic physical quantities to be detected based on the velocity-related information.
The output unit generates a perceptible measurement signal that changes according to the motion feature amount.

In the motion measuring device, the output unit is configured to generate a perceptible measurement signal that changes according to the motion feature amount of the detection target, so that the user can more intuitively understand the motion posture and trajectory of the detection target. Can be grasped.
Here, the perceptible measurement signal means various signals that can be identified by the user by hearing, sight, touch, etc., and typically includes sound waves, light, vibration, and the like.

The control unit extracts the first kinematic physical quantity and the second kinematic physical quantity as the kinematic feature quantity, and outputs the first measurement signal corresponding to the first kinematic physical quantity to the second. It may be configured to generate a modulated signal modulated by a second measurement signal corresponding to the kinematic physical quantity of. In this case, the output unit generates the measurement signal based on the modulation signal.
As a result, the movement of the detection target based on a plurality of kinematic physical quantities can be intuitively presented to the user.

The control unit may include a calculation unit for extracting the motion feature amount and a modulation unit for generating the modulation signal.

The first and second kinematic physical quantities are not particularly limited. For example, the control unit may be configured to extract the tangential velocity of the detection target as the first kinematic physical quantity. Further, the control unit may be configured to extract at least one of the acceleration, the normal acceleration and the motion elevation angle of the detection target as the second kinematic physical quantity.

The configuration of the output unit is not particularly limited, and may include, for example, a sounding element or a light emitting element. In this case, as the measurement signal, sound waves whose scale, timbre, volume, etc. change according to the motion feature amount, or light whose color, intensity, light emission pattern, etc. change according to the motion feature amount, respectively, are described above. Generated as a measurement signal.

The configuration of the detection unit is also not particularly limited, and may include, for example, an acceleration sensor unit that detects acceleration in the three axes, or may include an angular velocity sensor unit that detects angular velocities around the three axes. good.

The information processing device according to one form of the present technology includes a control unit.
The control unit extracts motion features including one or more kinematic physical quantities of the detection target based on the speed-related information related to the time change of the velocity of the detection target moving in space in the three axial directions. Then, a control signal for controlling an output unit capable of generating a perceptible measurement signal that changes according to the above-mentioned kinematic feature quantity is generated.

The information processing device may further include a detection unit that acquires the speed-related information.

The information processing device according to another embodiment of the present technology includes a control unit and an output unit.
The control unit extracts a motion feature quantity including one or a plurality of kinematic physical quantities of the detection target based on the velocity-related information related to the time change of the velocity of the detection target moving in space in the three axial directions. do.
The output unit generates a perceptible measurement signal that changes according to the motion feature amount.

The motion measurement method according to one embodiment of the present technology includes acquiring velocity-related information related to a time change of the velocity of a detection target moving in space in the three axial directions.
Based on the velocity-related information, a motor feature quantity including one or a plurality of kinematic physical quantities to be detected is extracted.
A perceptible measurement signal that changes according to the above-mentioned motor features is generated.

As described above, according to the present technology, it is possible to more intuitively grasp the motion posture and trajectory of the detection target.
The effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a block diagram which shows the schematic structure of the motion measuring apparatus which concerns on one Embodiment of this technique. It is a schematic diagram explaining the application example of the said motion measuring apparatus. It is a schematic perspective view which shows the structure of the detection part in the said motion measuring apparatus. It is a system block diagram of the said motion measuring apparatus. It is a block diagram which shows the basic structure of the main part of the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the arithmetic circuit in the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the arithmetic circuit in the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the arithmetic circuit in the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the arithmetic circuit in the said motion measuring apparatus. It is a figure explaining the calculation method of the normal acceleration and the motion elevation angle. It is a conceptual diagram explaining the operation of the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the signal generation circuit in the said motion measuring apparatus. It is a block diagram which shows an example of the structure of the signal generation circuit in the said motion measuring apparatus. It is a flowchart explaining the operation example of the said motion measurement system. It is a figure explaining the operation of the said motion measuring apparatus. It is a figure explaining one operation of the said motion measuring apparatus. It is a figure explaining one operation of the said motion measuring apparatus. It is a figure explaining one operation of the said motion measuring apparatus. It is a figure explaining one operation of the said motion measuring apparatus. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 2nd Embodiment of this technique. It is a flowchart which shows the typical operation example of the said motion measurement system. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 3rd Embodiment of this technique. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 4th Embodiment of this technique. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 5th Embodiment of this technique. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 6th Embodiment of this technique. It is a block diagram which shows the structure of the motion measuring apparatus which concerns on 7th Embodiment of this technique.

Hereinafter, embodiments relating to the present technology will be described with reference to the drawings.

<First Embodiment>
[Device overview]
FIG. 1 is a block diagram showing a schematic configuration of a motion measuring device according to an embodiment of the present technology. FIG. 2 is a schematic diagram illustrating an application example of the motion measuring device.

As shown in FIG. 1, the motion measuring device 1 of the present embodiment includes a detection unit 10, a control unit 20, and an output unit 30. The motion measuring device 1 is configured to measure various kinematic physical quantities to be detected in space and output perceptible signals such as different sounds and lights according to the measurement results. In particular, the motion measuring device 1 of the present embodiment is composed of a sensor device 1A having a detection unit 10 and a control unit 20, and a terminal device 1B having an output unit 30.

The sensor device 1A is configured to be mountable on the detection target portion of the user U. The terminal device 1B is configured to be able to communicate wirelessly or by wire with the sensor device 1A, and is typically composed of a mobile information terminal such as a smart phone, a mobile phone, or a notebook PC (personal computer).

In the present embodiment, for example, as shown in FIG. 2, the sensor device 1A is attached to the arm holding the ball of the user U who practices pitching. The sensor device 1A is configured to extract the kinematic physical quantity from the start of exercise (start of pitching) to the end of operation (end of pitching) of the user U at predetermined time intervals or continuously and transmit it to the terminal device 1B. .. The terminal device 1B notifies the user U of information corresponding to the measurement results such as the tangential velocity of the arm and the normal acceleration acquired from the kinematic physical quantity as a perceptible measurement signal Sw such as sound or light. It is composed of.

The detection unit 10 includes a housing (not shown) having attachments such as a band and a hook that can be attached to the user U, and a sensor module (see FIG. 3) housed inside the housing. The detection unit 10 is a velocity related to a time change of velocity in three orthogonal axes (X, Y and Z axes in FIG. 2) of the real space coordinates (hereinafter, also referred to as a global coordinate system) of the user U moving in space. Related information Detects Vo.

The user U as a detection target includes not only the user himself but also the exercise equipment used by the user. When the detection target is the user himself / herself, more specifically, a part of the body (for example, arms, legs, head, waist, etc.) to which the sensor device 1A is attached corresponds to the detection target. The sensor device 1A is not limited to being directly attached to the user's body, and may be attached to a part that moves together with the user, such as clothes, a hat, shoes, a glove (glove), a wristband, and a belt.
On the other hand, examples of the exercise equipment include competition equipment such as clubs, bats, rackets, and batons that the user holds and uses.

FIG. 3 is a schematic perspective view showing the configuration of the detection unit 10.

The detection unit 10 has an inertial sensor module 11 including an acceleration sensor unit 12 that detects accelerations in three orthogonal axis directions (x, y, and z axes in FIG. 3) in the local coordinate system. As shown in FIG. 3, the detection unit 10 may further include an angular velocity sensor unit 13 that detects the angular velocity around the three axes. The detection unit 10 outputs the outputs of the acceleration sensor unit 12 and the angular velocity sensor unit 13 to the control unit 20 at a predetermined sampling period (for example, 0.1 to 1 msec) as speed-related information Vo to be detected. By setting the sampling period to 0.1 msec or more, it is possible to obtain a distance resolution of about 1 cm for a detection target moving at 200 km / h, for example. Further, by setting the sampling period to 1 msec or less, it can be put into practical use for most general uses.

The acceleration sensor unit 12 includes acceleration sensors 12x, 12y, and 12z that detect accelerations in the x, y, and z-axis directions (hereinafter, also referred to as acceleration components in the local coordinate system), respectively. The acceleration sensor 12x to 12z may be any type of sensor such as a piezoresistive type, a piezoelectric type, a capacitance type, and an electromagnetic induction type.

The angular velocity sensor unit 13 has angular velocity sensors 13x, 13y, 13z for detecting angular velocities around the x, y and z axes (hereinafter, also referred to as angular velocity components in the local coordinate system), respectively. A vibrating gyro sensor is typically used for the angular velocity sensors 13x to 13z, but a rotating top gyro sensor, a laser ring gyro sensor, a gas rate gyro sensor, or the like may also be used.

In the illustrated example, the acceleration sensors 12x to 12z and the angular velocity sensors 13x to 13z of each axis are individually configured, but the acceleration sensor 12 and the angular velocity sensor 13 are not limited to this, and the acceleration sensor 12 and the angular velocity sensor 13 are in the biaxial direction or the triaxial direction. Each may include a single sensor capable of simultaneously detecting the acceleration or angular velocity of the.

The circuit board 14 commonly supports the acceleration sensor unit 12 and the angular velocity sensor unit 13. Not limited to this, the circuit board 14 may be composed of a different board for each of the sensor units 12 and 13. Further, although not shown, the circuit board 14 may be equipped with a drive circuit for driving the sensor units 12 and 13 and a signal processing circuit for processing the outputs of the sensor units 12 and 13.

The signal processing circuit includes an integrating circuit for obtaining speed information from the acceleration sensor unit 12, an angle calculation circuit for obtaining angle information (rotation angle component) from the angular velocity sensor unit 13, and a filter circuit for removing the gravity component. Examples include a coordinate conversion circuit that converts the xyz coordinate system into the XYZ coordinate system, a controller that controls these circuits, and the like. A part or all of these signal processing circuits may be provided in the control unit 20.

The control unit 20 extracts a kinematic feature quantity including one or a plurality of kinematic physical quantities of the user U based on the velocity-related information Vo output from the detection unit 10.

The kinematic physical quantity typically means a physical quantity such as velocity, angular velocity, their time derivative values (acceleration, angular acceleration, etc.) or their time integral values (distance, angle, etc.). In addition, various physical quantities (tangential velocity, tangential acceleration, normal acceleration, motion elevation angle, etc.) calculated from these physical quantities are included.

The control unit 20 calculates one or a plurality of kinematic physical quantities from the speed-related information Vo output from the detection unit 10, and generates a control signal S0 for controlling the output unit 30 according to the calculation result. It is configured as an information processing device. The control signal S0 is a signal that changes with time according to the amount of motion features that changes from moment to moment. The control signal S0 may be a signal that changes according to the magnitude of a single kinematic physical quantity (for example, tangential speed), or the kinematic physical quantity may be changed to another kinematic physical quantity (for example, normal acceleration). , Elevation angle, etc.) may be a signal whose frequency, intensity, waveform, etc. are modulated. The control signal S0 generated by the control unit 20 is transmitted to the output unit 30.

The output unit 30 is configured to output a perceptible measurement signal Sw that changes according to the motion feature amount of the user U based on the control signal S0. That is, the measurement signal Sw is various signals that can be identified by the user by hearing, sight, touch, etc., and typically includes sound waves in the audible range, visible light, vibration, or a combination of two or more of these. .. In order to output such a measurement signal Sw, the output unit 30 includes a sounding element such as a speaker and a buzzer, a light emitting element such as an LED (Light Emitting Diode), a vibration generating element such as a vibration motor, and the like.

The control signal S0 generated by the control unit 20 controls the drive of the output unit 30 so as to change the measurement signal Sw according to the momentarily changing motion feature amount. Specifically, when the measurement signal Sw is a sound wave, the output unit 30 changes the scale, timbre, volume, etc. according to the motion feature amount, and when the measurement signal Sw is light, the color (wavelength) is changed according to the motion feature amount. ), Intensity, light emission pattern, etc. Further, when the measurement signal Sw is vibration, the output unit 30 changes the size, direction, oscillation pattern, etc. according to the amount of motion features.

Typically, the motion feature amount changes from moment to moment in the process of a series of motions from the start of the motion to the end of the motion of the user U. Therefore, the measurement signal Sw output by the output unit 30 is not constant, and its output mode changes continuously or intermittently. Therefore, by perceiving the measurement signal Sw, the user U can more intuitively grasp the change in the swinging speed and the swinging method (pitching form) in the pitching practice shown in FIG. 2, for example. ..

Hereinafter, the details of the motion measuring device 1 according to the present embodiment will be described.

[Basic configuration]
FIG. 4 is a system configuration diagram of the motion measuring device 1, and FIG. 5 is a block diagram showing a basic configuration of a main part thereof. The motion measuring device 1 constitutes a measuring system including a sensor device 1A and a terminal device 1B.

(Sensor device)
The sensor device 1A includes a detection unit 10, a control unit 20, a transmission / reception unit 101, an internal power supply 102, a memory 103, and a power supply switch (not shown).

The detection unit 10 has an inertial sensor module 11 on which the acceleration sensor unit 12 and the angular velocity sensor unit 13 are mounted (see FIG. 3). The detection unit 10 sequentially outputs the acceleration component and the angular velocity component in the local coordinate system acquired in a predetermined sampling cycle to the control unit 20 as the speed-related information Vo of the user U (sensor device 1A).

The control unit 20 is composed of an arithmetic unit such as a CPU (Central Processing Unit) and a computer having an internal memory, and controls the operation of the sensor device 1A. The control unit 20 may be composed of an analog circuit. The control unit 20 mainly extracts a kinematic feature quantity including one or a plurality of kinematic physical quantities of the user U (sensor device 1A) based on the velocity-related information Vo, and controls signal S0 according to the kinematic feature quantity. To generate.

The transmission / reception unit 101 includes, for example, a communication circuit and an antenna, and constitutes an interface for communication with the terminal device 1B (transmission / reception unit 404). The transmission / reception unit 101 is configured to be capable of transmitting an output signal including the control signal S0 generated by the control unit 20 to the terminal device 1B. Further, the transmission / reception unit 101 is configured to be able to receive setting information and the like of the control unit 20 transmitted from the terminal device 1B.

The communication performed between the transmission / reception unit 101 and the transmission / reception unit 201 may be wireless or wired. Wireless communication may be communication using electromagnetic waves (including infrared rays) or communication using an electric field. Specific methods include "Wi-Fi (registered trademark)", "Zigbee (registered trademark)", "Bluetooth (registered trademark)", "Bluetooth Low Energy", "ANT (registered trademark)", and "ANT + ( A communication method using a band of several hundred MHz (megahertz) to several GHz (gigahertz) such as "registered trademark" and "EnOcean (registered trademark)" can be exemplified. Proximity wireless communication such as NFC (Near Field Communication) may be used.

The internal power supply 102 supplies the power required to drive the sensor device 1A. For the internal power supply 102, a power storage element such as a primary battery or a secondary battery may be used, or an energy harvesting technique including a power generation element such as vibration power generation or solar power generation and a non-power supply means may be used. .. In particular, in the present embodiment, since a moving detection target is the measurement target, an energy harvesting device such as a vibration power generation device is suitable as the internal power source 102.

The memory 104 has a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and executes control of the sensor device 1A by a control unit 20 such as a program for generating a control signal S0 from the speed-related information Vo. Stores programs, various parameters or data for.

(Terminal device)
The terminal device 1B is typically composed of a personal digital assistant, and includes a CPU 401, a memory 402, an internal power supply 403, a transmission / reception unit 404, a camera 405, and a position information acquisition unit (GPS (Global Positioning System) device). It has a 406, a display unit 407, a speaker 408, a light emitting unit 409, and a vibration generating unit 410.

The CPU 401 controls the overall operation of the terminal device 1B. The memory 402 has a ROM, a RAM, and the like, and stores a program, various parameters, or data for executing the control of the terminal device 1B by the CPU 401. The internal power supply 403 is for supplying the electric power required for driving the terminal device 1B, and is typically composed of a rechargeable secondary battery.

The transmission / reception unit 404 includes a communication circuit and an antenna capable of communicating with the transmission / reception unit 101. The transmission / reception unit 404 is further configured to be able to communicate with other mobile information terminals, servers, etc. using a wireless LAN or a 3G or 4G network N for mobile communication.

The display unit 407 is composed of, for example, an LCD (Liquid Crystal Display) or an OLED (Organic Light Emitting Diode), and displays a GUI (Graphic User Interface) of various menus and applications. Typically, the display unit 407 has a touch sensor, and is configured to be able to input predetermined setting information to the sensor device 1A via the CPU 401 and the transmission / reception unit 404 by a user's touch operation.

The output unit 30 is driven based on the control signal S0 received from the sensor device 1A via the transmission / reception unit 404, and generates a measurement signal Sw perceptible to the user U. The output unit 30 may be composed of at least one such as a speaker 408, a light emitting unit 409, and a vibration generating unit 410, which are built in the terminal device 1B.

In the present embodiment, the output unit 30 is composed of a speaker. The output unit 30 may be composed of the speaker 408, or may be composed of a speaker different from the speaker 408. In the following description, a case where the output unit 30 is composed of a speaker different from the speaker 408 will be described as an example.

[Basic configuration of control unit]
Subsequently, the details of the control unit 20 in the sensor device 1A will be described. FIG. 5 is a block diagram showing a basic configuration of the control unit 20.

As shown in FIG. 5, the control unit 20 includes a feature amount extraction unit 21 and a motion recognition unit 22.

The feature amount extraction unit 21 extracts a motion feature amount by calculating a predetermined kinematic physical quantity of the user U (sensor device 1A) based on the velocity-related information Vo, and a control signal corresponding to the motion feature amount. Generate S0.
The motion recognition unit 22 extracts the presence or absence of a specific motion pattern based on the predetermined kinematic physical quantity, transmits the output to the terminal device 1B, and displays the measurement result on the display unit 407 or the memory 402. Or it is for recording. The implementation of the motion recognition unit 22 is optional and may be omitted depending on the specifications and the like.

The feature amount extraction unit 21 has an arithmetic circuit 211 and a signal generation circuit 212.

(Calculation circuit)
The calculation circuit 211 is configured as a calculation unit that extracts one or a plurality of motion features based on the velocity-related information Vo. Arithmetic circuit 211 as a predetermined motion feature amount, the tangential velocity (v _t), the tangential acceleration (a _t), the normal acceleration (a _n), calculates a plurality of motion feature amounts such as elevation (V _θ).

(Configuration example of arithmetic circuit 1)
FIG. 6 is a block diagram of the motion measurement system 101 showing a configuration example of the arithmetic circuit 211.

The arithmetic circuit 211 includes an integrator 113 and an absolute value calculation circuit 114. In this configuration example, the output signal of the acceleration sensor unit 12 is used as the speed-related information Vo.

The integrator 113, the acceleration component of the local coordinate system _{(a x, a y, a} z) to be to the integration time for each axis velocity component _{(v X, v Y, v} Z) to extract. The absolute value calculation circuit 114 obtains the tangential velocity (v _t ) by calculating the absolute value (√ (v _x ² + v _y ² + v _z ² _{)) of the velocity components (v X} , v _Y , v _Z). .. The calculated tangential velocity (v _t ) is output to the signal generation circuit 212 as the first measurement signal S1.

In the above example, the acceleration component in a local component as the output of the acceleration sensor unit 12 to be input to the integrator _{113 (a x, a y,} a z) but is used, the acceleration components (a _x, a _y, a _The absolute value (√ (v _X ² + v _Y ² + v _Z ² )) may be calculated by regarding z) as the acceleration component (a _X , a _Y , a _{Z) of the global component.} Alternatively, for example, the acceleration component in the global coordinate system may be extracted by referring to the acceleration component of each axis at the start of the movement of the user U.

The output unit 30 includes a sounding element 31 and a drive circuit 32. The drive circuit 32 drives the sounding element 31 based on the control signal S0, and generates a sound wave as the measurement signal Sw from the sounding element 31. Examples of the oscillating element 31 include a diaphragm and the like, and examples of the drive circuit 32 include a voice coil motor (VCM).

(Configuration example 2 of arithmetic circuit)
FIG. 7 is a block diagram of the motion measurement system 102 showing another configuration example of the arithmetic circuit 211. In FIG. 7, the parts corresponding to those in FIG. 6 are designated by the same reference numerals, and the description thereof will be omitted.

The calculation circuit 211 further includes an angle calculation circuit 111 and a coordinate rotation circuit 112. In this configuration example, the output signals of the acceleration sensor unit 12 and the angular velocity sensor unit 13 are used as the speed-related information Vo.

The angle calculation circuit 111 calculates the rotation angle component (θ _x , θ _y , θ _{z ) from the angular velocity component (ω x} , ω _y , ω _z ) in the local coordinate system output from the angular velocity sensor unit 13, and calculates this. Output to the coordinate rotation circuit 112. Coordinate rotation circuit 112, the rotational angle component _{(θ x, θ y, θ} z) of the acceleration component in the local coordinate system output from the acceleration sensor unit 12 on the basis of _{(a x, a y, a} z) global coordinates Calculate the acceleration components (a _X , a _Y , a _Z ) in the system. The integrator 113 extracts the velocity components (v _X , v _Y , v _Z ) by _{time-integrating the acceleration components (a X} , a _Y , a _Z ) in the global coordinate system for each axis. The absolute value calculation circuit 114 obtains the tangential velocity (v _t ) by calculating the absolute value (√ (v _X ² + v _Y ² + v _Z ² _{)) of the velocity components (v X} , v _Y , v _Z). ..

In the angle calculation circuit 111, an attitude calculation method generally used in the field of inertial navigation is adopted. Coordinate rotation circuit 112 based on the rotation angle component calculated in the angle calculation circuit 111, the acceleration component in the local coordinate system _{(a x, a y, a} z) acceleration components in the global coordinate system (a _X, a _Y, Convert to a _Z). According to this configuration example, the velocity components (v _X , v _Y , v _Z ) of each axis are calculated by compensating for the rotational components around each axis, so the tangential velocity (v _t ) is calculated with higher accuracy. can do.

(Configuration example 3 of arithmetic circuit)
FIG. 8 is a block diagram of the motion measurement system 103 showing another configuration example of the arithmetic circuit 211. In FIG. 8, the parts corresponding to those in FIG. 6 are designated by the same reference numerals, and the description thereof will be omitted.

The arithmetic circuit 211 further includes a tangential direction calculation circuit 115 and a normal direction acceleration absolute value calculation circuit 116. _{The normal direction calculation circuit 115 is based on the velocity components (v X} , v _Y , v _Z ) of each axis output from the integrator 113, and is tangential to the user U (sensor device 1A) (tangent in the global coordinate system). Calculate the velocity vector). The normal direction acceleration absolute value calculation circuit 116 includes the velocity components (v _X , v _Y , v _Z ) of each axis output from the integrator 113 and the tangential velocity vector (velocity vc) output from the tangential direction calculation circuit 115. ) and on the basis to calculate the normal acceleration (a _n) which is perpendicular to the tangential velocity vector.

Movement measurement system 103 in this example calculates the normal acceleration (a _n) as a second measurement signal, modulated at the second measurement signal S2a first measurement signal S1 (tangential velocity (v _t)) to generate a control signal S0 and inputs the calculated normal acceleration (a _n) to the signal generating circuit 212. Thus, it is possible to generate a measurement signal Sw corresponding to the magnitude of the normal acceleration (a _n).

(Configuration example 4 of arithmetic circuit)
FIG. 9 is a block diagram of the motion measurement system 104 showing another configuration example of the arithmetic circuit 211. In FIG. 9, the parts corresponding to those in FIG. 8 are designated by the same reference numerals, and the description thereof will be omitted.

The calculation circuit 211 further includes a motion elevation angle calculation circuit 117. The motion elevation angle calculation circuit 117 calculates the motion elevation angle (φ) based on the tangential velocity vector output from the tangential direction calculation circuit 115.

Movement measurement system 104 in the present embodiment, the second measurement signal S2a, calculates the normal acceleration (a _n) and motion elevation (phi) as S2b, these second measurement signals S2a, a first measurement signal S2b S1 to generate a control signal S0 obtained by modulating (tangential velocity (v _t)), and inputs the calculated normal acceleration (a _n) and motion elevation (phi) to the signal generating circuit 212. Thus, it is possible to generate a measurement signal Sw corresponding to the magnitude of the normal acceleration (a _n) and motion elevation (phi).

In the configuration examples 3 and 4, the velocity-related information Vo (acceleration components (a _X , a _Y , a _Z )) input to the integrator 113 includes the acceleration sensor unit 12 and the angular velocity sensor unit as in the configuration example 2. Obtained from both of 13 (Fig. 7). Not limited to this, the speed-related information Vo may be acquired only from the acceleration sensor unit 12 as in the configuration example 1 (FIG. 6).

Figure 10 is a diagram for explaining a method of calculating the normal acceleration (a _n) and motion elevation (phi).
The tangential acceleration vector, the tangential acceleration vector, and the normal acceleration vector of the sensor device 1A on the orbit at an arbitrary time in the global coordinate system are shown as shown in FIG. 10, respectively.
The normal acceleration vector is a component orthogonal to the tangential velocity vector of the acceleration vector (a component parallel to the normal plane), and the motion elevation angle can be obtained from the angle formed by the tangent velocity vector and the XY plane.

That is, as shown in FIG. 10, the normal acceleration vector can be obtained from the acceleration vector and the orbital direction unit vector (see equation (2)), and the orbital direction unit vector and the motion elevation angle (φ) are in the global coordinate system. It can be obtained from the velocity components (v _X , v _Y , v _Z ) (see equations (1) and (3)). Normal acceleration (a _n) is calculated by taking the absolute value of the normal acceleration vector. Incidentally, the normal acceleration (a _n) and motion elevation (phi), may be calculated by a method other than the above.

11A and 11B are schematic views illustrating an example of the operation of the configuration examples 3 and 4. In the motion locus of the sensor device 1A shown by the dotted line and the solid line in FIG. 11A, the configuration example 2 in which the sound is modulated by referring only to the _{tangential velocity (v t) may output the measurement signal Sw of the same sound.} , by modulating the sound also see the normal acceleration (a _n), it is possible to distinguish one from the other.
Moreover, the tangential velocity (v _t), according to the configuration example 4 that refers to the normal acceleration (a _n) and motion elevation (phi), thereby enabling more versatile measurement. For example, in the motion locus of the sensor device 1A shown by the dotted line and the solid line in FIG. 11B, the configuration example 3 may output the same sound measurement signal Sw, but according to the configuration example 4, different sound measurements are performed. The signal Sw can be output.

(Signal generation circuit)

The signal generation circuit 212 drives the output unit 30 to generate the control signal S0 for generating the measurement signal Sw, based on the kinematic physical quantity calculated by the arithmetic circuit 211. In the present embodiment, since the output unit 30 is composed of a speaker that generates a sound wave as a measurement signal Sw, the signal generation circuit 212 is an analog including an audio signal generation circuit such as a voltage control oscillator (VCO), for example. The configuration can be similar to that of a synthesizer.

The signal generation circuit 212 includes a first measurement signal (S1) corresponding to one kinematic physical quantity (first kinematic physical quantity) selected from the plurality of kinematic physical quantities, and any other one. Alternatively, a second measurement signal (S2) corresponding to a plurality of kinematic physical quantities (second kinematic physical quantity) is generated. The signal generation circuit 212 is configured as a modulation unit that generates a modulation signal obtained by modulating the first measurement signal (S1) with the second measurement signal (S2) as a control signal S0. The second measurement signal S2 is configured to modulate the oscillation frequency, scale, timbre, etc. associated with the first measurement signal S1.
Typically, the larger the first measurement signal S1 (tangential velocity), the higher the scale of the audio signal is output, and the larger the second measurement signal S2 (normal acceleration, elevation angle, etc.), the more the modulation component such as vibrato. Is configured to be strongly applied.

In the present embodiment, as described above, are referred to the tangential velocity of the sensor as a first kinematic feature quantity (v _t) is a second kinematic physical quantity as a sensor of the normal acceleration (a _n), or , normal acceleration sensor (a _n) and elevation (V _theta) is referred to. Therefore, for example, when the motion of the sensor device 1A is a linear motion, a control signal S0 based on the first measurement signal S1 is generated. On the other hand, when the motion of the sensor device 1A is accompanied by a curvilinear motion such as a circular motion or an elliptical motion, a control signal S0 in which the first measurement signal S1 is modulated by the second measurement signal S2 is generated ( See FIGS. 11A and 11A and B).

The signal generation circuit 212 is not limited to the example provided in the control unit 20, and may be provided in the output unit 30 as described later.

(Configuration example of signal generation circuit 1)
FIG. 12 is a block diagram of the motion measurement system 105 showing a configuration example of the signal generation circuit 212.

The signal generation circuit 212 includes an adder 121, a voltage controlled oscillator (VCO: Voltage-Controlled Oscillator) 122, a voltage controlled filter (VCF: Voltage-Controlled Filter) 123, and a voltage controlled amplifier (VCA: Voltage-Controlled Amplifier). ) 124 and a calculation unit 125.

_{The adder 121 includes a first measurement signal S1 (a signal corresponding to the tangential velocity (v t} )) output from the absolute value calculation circuit 114 (see FIGS. 6 and 7) and a normal acceleration absolute value calculation circuit. 116 (see FIGS. 8 and 9) by adding the (signal corresponding to the normal acceleration (a _n)) and a second measurement signal S2a output from the first measurement by the second measurement signal S2a Modulate signal S1. The voltage controlled oscillator 122 oscillates based on the output of the adder 121. The voltage control filter 123 modulates the output (for example, timbre) of the voltage controlled oscillator 122 with the second measurement signal S2b (the signal corresponding to the motion elevation angle (φ)). The voltage control amplifier 124 modulates the output of the voltage control filter 123 by the output of the calculation unit 125 (signals generated based on the first and second measurement signals S1, S2a, S2b) to generate the control signal S0. .. The calculation unit 125 outputs a voltage signal for adjusting the control signal S0 to a volume optimized according to a movement pattern, a usage environment, and the like to the voltage control amplifier 123.

(Structure example 2 of signal generation circuit)
FIG. 13 is a block diagram of the motion measurement system 106 showing another configuration example of the signal generation circuit 212. In FIG. 13, the parts corresponding to those in FIG. 12 are designated by the same reference numerals, and the description thereof will be omitted.

The signal generation circuit 212 further includes an LFO (Low Frequency Oscillator) 126a to 126c. LFO126a is provided at the input stage of the second measurement signal S2a in the adder 121, based on the normal acceleration (a _n), for example, to modulate the frequency or intensity of the "vibrato". The LFO 126b is provided at the input stage of the second measurement signal S2b in the voltage control filter 123, and modulates, for example, the frequency or intensity of “wah” based on the motion elevation angle (φ). The LFO 126c is provided in the input stage of the arithmetic circuit 125 in the voltage control amplifier 124, and modulates, for example, the frequency or intensity of the “tremolo” based on the movement pattern, the usage environment, and the like.

The signal generation circuit 212 is not limited to the above example, and for example, in place of or in addition to the above configuration, noise or programmed voice data is superimposed, an EG (Envelop Generator) is added, or an effector is added. A circuit may be used.

[Operation of motion measurement system]
Subsequently, a typical operation of the motion measurement system 1 configured as described above will be described. FIG. 14 is a flowchart illustrating an operation example of the motion measurement system 1. Here, the motion measurement systems 102 and 104 described with reference to FIGS. 7 and 9 will be described as an example.

When the power-on or the like system starts, the sensor device 1A includes an acceleration component in the local coordinate system of the sensor device 1A by the acceleration sensor unit 12 and the angular velocity sensor unit _{13 (a x, a y,} a z) and the angular velocity component (omega _x , Ω _y , ω _z ) (step 101). The detected acceleration component and angular velocity component are output as velocity-related information Vo to the feature amount extraction unit 21 (calculation unit 211) of the control unit 20.

Speed related information Vo supplied to the feature amount extraction unit 21 (operation unit 211), the rotation angle by the angle calculating circuit 111 is detected (step 102), the acceleration component in the local coordinate system further by the coordinate rotation circuit 112 (a _x , A _y , a _z ) are coordinate-transformed into acceleration components (a _X , a _Y , a _Z ) in the global coordinate system (step 103).

Subsequently, the feature extraction unit 21 (calculation unit 211) applies the acceleration components (a _X , a _Y , a _Z ) to the integrator 113 to calculate the _{velocity components (v X} , v _Y , v _Z ) in the global coordinate system. , The motor feature amount is extracted (step 106). At this time, it is determined whether or not the absolute value of the acceleration components (a _X , a _Y , a _Z ) of each axis is larger than the predetermined value ε, and if it is equal to or less than the predetermined value ε, the integrator 113 is reset. The motor features are extracted (steps 104 to 106). The predetermined value ε is set based on the measurement limit determined by the error (noise, offset) of the acceleration sensor, the angular velocity sensor, the analog circuit, or the like. As a result, when the absolute value of the acceleration is equal to or less than the predetermined position ε, it is possible to extract the motion feature amount with high accuracy while suppressing the influence of the integration error. This process may be executed independently for each coordinate axis, or the acceleration in the three-dimensional space obtained from the square root of the sum of the squares of the values for each coordinate axis (√ (a _X ² + a _Y ² + a _Z ^2)). The judgment may be made based on the absolute value of.

_{The calculation unit 211 extracts a kinematic feature quantity including the tangential velocity (v t} ) of the sensor device 1A as the first kinematic physical quantity by the absolute value calculation circuit 114, and signals the corresponding first measurement signal S1. Output to the generation circuit 212. The signal generation circuit 212 generates an audio signal (control signal S0) corresponding to the first measurement signal S1 and outputs the audio signal (control signal S0) to the output unit 30 to generate the measurement signal Sw (steps 107, 108, FIG. 9). ..

Arithmetic unit 211 further includes a second kinematic physical quantity calculating normals acceleration sensor device 1A (a _n) and motion elevation (phi) as a second measurement signal S2a corresponding to these, S2b signal generator Output to circuit 212. The signal generation circuit 212 modulates the first measurement signal S1 according to the second measurement signals S2a and S2b, and outputs the modulated control signal S0 to the output unit 30. Thus, the frequency of the sound waves associated with the tangential velocity (v _t), tone, intensity, etc. is modulated in accordance with the normal acceleration (a _n) and motion elevation (phi) (step 107 and 108, FIG. 9).

Various kinematic physical quantities extracted by the feature quantity extraction unit 21 are referred to as necessary for extraction of the presence or absence of a specific motion pattern in the motion recognition unit 22, or are displayed on the display unit 407 of the terminal device 1B. It is displayed in a predetermined form and recorded in the memory 402 (see FIG. 5). Examples of the display form on the display unit 407 include the display of a waveform or a log representing a time change of a predetermined kinematic physical quantity, and the log is taken into the memory 402. The kinematic physical quantity displayed on the display unit 407 or recorded in the memory 402 is not limited to the tangential velocity, the normal acceleration, and the motion elevation angle, but is not limited to the tangential velocity, the tangential acceleration, the horizontal acceleration, the vertical acceleration, the horizontal velocity, the vertical velocity, etc. Various data may be included. Further, when the presence of a specific motion pattern is recognized in the motion recognition unit 22, the motion recognition unit 22 may be configured to emit a sound effect such as an alarm or an alert via the speaker 408 of the terminal device 1B.

The process is repeatedly executed in the predetermined sampling cycle until the system is stopped (step 109).

As described above, according to the present embodiment, since the movement of the sensor device 1A attached to the user U is output as a perceptible audio signal to the user U, the user U can more intuitively understand the motion posture and the trajectory to be detected. Can be grasped.

For example, in the pitching practice shown in FIG. 2, as the tangential velocity of the arm to which the sensor device 1A is attached increases, a sound with a higher scale is output after or during the operation, and the user can use the sound to output his / her own pitching speed (arm). You can grasp the speed of shaking) in real time. In addition, depending on the difference in the output sound, it is possible to intuitively compare the movement with the movement by another person such as a practicing companion or an instructor. Further, it becomes possible to easily determine whether or not the target tangential velocity has been reached, check the user's own condition, and confirm the throwing form.

Hereinafter, changes in various physical quantities measured by the sensor device 1A attached to the arm of the user U who practices pitching will be described with reference to FIGS. 15 to 19.
For the sake of simplicity, the trajectory, speed, acceleration, and coordinate system of the motion are assumed to be on the same plane (XZ plane), and the motion is a circular motion with a trajectory radius (r) of 1 m, from the start to the end of the motion. The series of operation time (movement time from the A position to the B position of the sensor device 1A in FIG. 15) is 1 second.

FIG. 16A shows the tangential velocity (v _t ) calculated by the equation (4) of FIG. The tangential velocity (v _t ) corresponds to the velocity in the moving direction of the sensor device 1A. Table tangential velocity (v _t) and moving distance (L), the angular velocity (omega), the relationship between tangential acceleration (a _t) and the normal acceleration (a _n), the figure (5) - (8) Will be done. FIG. 16B, and C, shows (6) to (8) angular velocity (omega) which is calculated by the formula, the tangential acceleration (a _t) and the normal acceleration (a _n), respectively. The angular velocity (ω) was positive in the counterclockwise direction shown in FIG.

17A and 17B show the time change of the _{horizontal / vertical acceleration (a X} , a _Z ) and the horizontal / vertical velocity (v _X , v _Z ) calculated from the velocity-related information Vo acquired by the sensor device 1A, respectively. An example is shown.
Horizontal acceleration (a _X) and vertical acceleration (a _Z) is FIG 16B, C of the angular velocity (omega), the horizontal and in the global coordinate system calculated from the tangential acceleration (a _t) and the normal acceleration (a _n) It is the acceleration in the vertical direction. The horizontal velocity (v _X ) and the vertical velocity (v _Z ) are the horizontal and vertical directions in the global coordinate system obtained by time-integrating the horizontal acceleration (a _X ) and the vertical acceleration (a _{Z) in FIG. 17A, respectively.} The speed of.

FIG. 17C is a measured value (v _{t, meas} ) of the tangential velocity obtained from the horizontal velocity (v _X ) and the vertical velocity (v _{Z) of FIG. 17B.} If the absolute value measurement of the vector sum of the horizontal velocity (v _X ) and the vertical velocity (v _Z ) is correct, the measured value of the tangential velocity (v _{t, meas} ) matches _{the tangential velocity (v t} ) shown in FIG. 16A. Will be done.

_{FIG. 18A is a measurement value (an, meas} ) of the normal acceleration obtained from _{the horizontal acceleration (a X} ), the vertical acceleration (a _Z ), the horizontal velocity (v _X ), and the vertical velocity (v _Z ) of FIGS. 17A and 17B. ), and corresponds to a normal acceleration (a _n) shown in FIG. 16C.

FIG. 18B shows the input of the VCO (corresponding to the voltage controlled oscillator 122 in the signal generation circuit 212) showing how the measured value of the normal acceleration (an _{, meas} ) is added to the measured value of the tangential velocity (v _{t, meas).} The component waveform is shown. Here, a state when a 10 Hz sine wave is _{amplitude-modulated with a measured value of normal acceleration (an, meas} ) and scaled is shown.

FIG. 18C shows the time variation of the VCO frequency (fvco) in FIG. 18B. It can be seen that vibrato is strongly applied depending on the magnitude of normal acceleration. FIG. 19 shows an example of the input / output characteristics of the VCO. There is a relationship of fvco = 440Hz x 2 ^{VCO input / 5.} For example, if the fvco at rest is 440 Hz and the fvco at the time of reaching the target tangential velocity is 880 Hz, a sound that is exactly one octave higher will be output when the target is reached.

<Second embodiment>
FIG. 20 shows the configuration of the motion measurement system according to the second embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

As shown in the figure, the motion measurement system 2 of the present embodiment has a first audio signal generation 251 and a second audio signal generation circuit 252, a motion presence / absence recognition circuit 253, and a switching circuit 254. , Different from the first embodiment.

The first audio signal generation circuit 251 corresponds to the signal generation circuit 212 described in the first embodiment. The second audio signal generation circuit 252 generates a signal different from the signal output from the first signal generation circuit 251, for example, an audio signal having a constant frequency, intensity, etc. such as white noise.

The motion presence / absence recognition circuit 253 is a circuit that determines the presence / absence of motion of the sensor device 1A based on _{the first measurement signal S1 (tangential velocity (v t)) output from the calculation unit 211, and is a tangential velocity (v). If} the magnitude of t) exceeds the predetermined value, it is determined to be exercising, and if it is less than the predetermined value, it is determined to be stationary. The switching circuit 254 is controlled by the motion presence / absence recognition circuit 253, and when the sensor device 1A is in motion (with motion), the output of the first audio signal generation circuit 251 is transmitted to the output unit 30, and the sensor device 1A is stationary. In the case of medium (no exercise), the output of the second audio signal generation circuit 252 is transmitted to the output unit 30.

FIG. 21 is a flowchart showing a typical operation example of the motion measurement system 2. The parts corresponding to FIG. 14 are designated by the same reference numerals, and detailed description thereof will be omitted.

The motion measurement system 2 of the present embodiment _{determines whether or not the absolute value of the motion feature amount (tangential velocity (v t} )) extracted by the calculation unit 211 is larger than the predetermined value η (step 106a). Then, when the absolute value of the motion feature amount is larger than the predetermined value η, the output of the first audio signal generation circuit 251 is transmitted to the output unit 30, and when it is less than the predetermined value η, the first audio signal generation circuit 251 The output of the second audio signal generation circuit 252 is transmitted to the output unit 30 instead of the output of (steps 107, 107a).

The value of the predetermined value η is not particularly limited, and is typically set to an appropriate value capable of determining the presence or absence of exercise. Not limited to this, the predetermined value η may be set to an appropriate size that can identify the degree of exercise.

Also in this embodiment, the same effects as those in the first embodiment described above can be obtained. In particular, according to the present embodiment, since the audio signal is configured to be switched based on the presence or absence of the characteristic movement of interest or the degree thereof, the user U is stationary or before entering a predetermined series of movements to be measured. It is possible to prevent the generation of a meaningless audio signal in the state of.

The second audio signal generation circuit 252 may be configured to generate a silent signal instead of generating an audio signal such as white noise. It is also possible to omit the installation of the second audio signal generation circuit 252 and simply switch the presence / absence of the output of the first audio signal generation circuit 251.

<Third embodiment>
FIG. 22 shows the configuration of the motion measurement system according to the third embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The motion measurement system 3 of the present embodiment is different from the first embodiment in that the signal generation circuit 212 is provided in the output unit 30. In the present embodiment, the first and second measurement signals S1 and S2 (S2a, S2b) generated in the arithmetic circuit 211 are output to the output unit 30, and are based on these measurement signals in the signal generation circuit 212 of the output unit 30. The control signal S0 is generated. Even in such a configuration, the same effect as that of the first embodiment can be obtained.

In particular, according to the present embodiment, since the signal generation circuit 212 is provided in the output unit 30, the calculation load on the control unit 20 is reduced. As a result, the construction cost of the sensor device 1A can be suppressed. Further, by using the CPU 401 (see FIG. 4) of the terminal device 1B, it is possible to perform signal generation processing with a large calculation load at a higher speed, and to present a highly expandable audio signal in real time. Become.

<Fourth Embodiment>
FIG. 23 shows the configuration of the motion measurement system according to the fourth embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The motion measurement system 4 of the present embodiment is different from the first embodiment in that the detection unit 10, the control unit 20, and the output unit 30 are configured as separate devices so as to be able to communicate with each other wirelessly or the like. .. Even in such a configuration, the same effect as that of the first embodiment can be obtained.

In particular, according to the present embodiment, it is possible to adopt a usage embodiment in which the detection unit 10 is attached to the detection portion (for example, the arm) of the user U, and the control unit 20 is attached to a portion (for example, the lumbar region) different from the detection portion. .. As a result, the housing of the detection unit 10 can be miniaturized, and the design specifications of the mechanical durability of the control unit 20 can be relaxed.

<Fifth Embodiment>
FIG. 24 shows the configuration of the motion measurement system according to the fifth embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The motion measurement system 5 of the present embodiment is different from the first embodiment in that the control unit 20 is housed in the terminal device 1B together with the output unit 30. In this case, the control unit 20 is configured to be able to communicate with the detection unit 10 by radio or the like. Even in such a configuration, the same effect as that of the first embodiment can be obtained.

In particular, according to the present embodiment, since only the detection unit 10 is attached to the detection target such as the user U, the housing of the detection unit 10 can be miniaturized and the control unit 20 can be reduced in size as in the fourth embodiment. It is possible to relax the design specifications for mechanical durability.

<Sixth Embodiment>
FIG. 25 shows the configuration of the motion measurement system according to the sixth embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The motion measurement system 6 of the present embodiment is different from the first embodiment in that the detection unit 10 and the control unit 20 are composed of a single device in which the output unit 30 is housed in a common housing. Even in such a configuration, the same effect as that of the first embodiment can be obtained.

In particular, according to the present embodiment, since the measurement result can be output from the motion measurement with a single device, the motion measurement can be performed more easily. Further, since the audio signal corresponding to the movement of the device is output, the device itself can be configured as a musical instrument.

<7th Embodiment>
FIG. 26 shows the configuration of the motion measurement system according to the seventh embodiment of the present technology.
Hereinafter, configurations different from those of the first embodiment will be mainly described, and the same configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

In the motion measurement system 7 of the present embodiment, the configuration of the signal generation circuit 212 is different from that of the first embodiment described above. The detection unit 10, the arithmetic circuit 211, and the output unit 30 are not shown.

The signal generation circuit 212 in the present embodiment includes a voltage control filter (VCF) 271, a voltage control amplifier (VCA) 272, and calculation units 273a and 273b.

The external sound source signal Sa and the output of the calculation unit 273a are input to the voltage control filter 271. Examples of the external sound source signal Sa include an audio signal output from a musical instrument, an audio signal detected by a microphone or the like, and an audio signal acquired from another sound source. The first and second measurement signals S1, S2a, and S2b are input to the calculation units 273a and 273b, respectively, and the output signals calculated based on these are output to the voltage control filter 271 and the voltage control amplifier 272, respectively. Modulates the external sound source signal Sa. The voltage control amplifier 272 modulates the output signal of the voltage control filter 271 with the output of the calculation unit 273b, and outputs the control signal S0.

Hereinafter, an operation example of the motion measurement system 7 of the present embodiment will be described.

(Operation example 1)
The motion measurement system 7 of the present embodiment is used, for example, to measure the body motion of a player of a musical instrument. In this case, the audio signal output from the musical instrument is used as the external sound source signal Sa. The detection unit 10 is attached to an arbitrary part of the performer's body, and the output unit 30 is configured integrally with the musical instrument or as a separate device.

The motion measurement system 7 uses the external sound source signal Sa as the fundamental tone, and each calculation unit 273a, 273b changes the timbre and volume according to the measurement result of the motion feature amount (tangential velocity, normal acceleration, elevation angle, etc.) of the body. The arithmetic expression of is optimized. Generally, when playing a musical instrument, the body parts that are not in contact with the musical instrument also exercise. Therefore, by superimposing the sound generated according to the motion feature amount on the musical instrument sound, a sound that cannot be generated by the musical instrument alone is generated. As a result, the range of expression can be expanded, and the musical instrument sound can be given extensibility.

(Operation example 2)
In the motion measurement system 7 of the present embodiment, for example, it can be used in association with musical instrument practice. In this case, the signal picked up by the microphone is used as the external sound source signal Sa. The detection unit 10 is attached to a part of the performer's body, such as fingers and arms. Further, the motion measurement system 7 is configured so that a third signal S3 for adjusting the allowable motion error can be input to the calculation units 273a and 273b (FIG. 26).

The motion measurement system 7 measures the motion of the fingers and the like of the user playing the musical instrument, compares the motion feature amount with the permissible motion error value, and outputs an appropriate sound corresponding to the instrument sound if it does not deviate from the permissible range. However, if it deviates, it outputs a sound with a change in timbre and volume to the extent that the performer can recognize it. This makes it possible to intuitively understand the movements of the fingers suitable for playing. The third signal S3 may be configured to be arbitrarily set by the user by adjusting parameters or the like.

In addition, in conversations and speeches, the timbre and volume may be changed according to the movement features of the gesture. This makes the impression on the listener stronger. Furthermore, since there are many repetitive movements in musical instrument performances, for example, not only the movement features measured in the movement examples 1 and 2 are used in real time, but also the habits of the performance are modeled from the past movement feature data, and the performance The tone color and volume may be changed based on the quantitative evaluation.

Although the embodiments of the present technology have been described above, the present technology is not limited to the above-described embodiments, and it goes without saying that various modifications can be made.

For example, in the above embodiments, the exercise measurement system applied to the user's pitching practice has been mainly described as an example, but the present invention is not limited to this, and of course, the exercise using exercise equipment such as a golf club or a bat is also applied. It is possible. In this case, the detection unit may be attached to the user or to the exercise equipment. In addition, this technology can be applied to lessons such as dance and dance, communication using gestures, and ecological surveys of animals.

Further, the setting of the sensor device 1A may be changed from the terminal device 1B. In this case, for example, the type of kinematic physical quantity to be extracted from the terminal device 1B may be selected, or the modulation function by the second measurement signals S2a and S2b may be disabled.

Further, in the above embodiments, an example of outputting the measurement signal Sw as an audio signal has been mainly described, but of course, the present invention is not limited to this, and other signals such as light and vibration can be output, and sound, light (lighting), and the like. Signals such as vibration may be combined and output. For example, various expressions such as sound representing movement and lighting representing posture and trajectory can be applied.

The present technology can have the following configurations.
(1) A detection unit that is attached to the detection target and detects speed-related information related to a time change in the speed of the detection target in the three axial directions that moves in space.
A control unit that extracts motion features including one or more kinematic physical quantities of the detection target based on the velocity-related information, and a control unit.
A motion measuring device including an output unit that outputs a perceptible measurement signal that changes according to the motion feature amount.
(2) The motion measuring device according to (1) above.
The control unit extracts the first kinematic physical quantity and the second kinematic physical quantity as the kinematic feature quantity, and outputs the first measurement signal corresponding to the first kinematic physical quantity to the second. Generates a modulated signal modulated by the second measurement signal corresponding to the kinematic physical quantity of
The output unit is a motion measuring device that generates the measurement signal based on the modulated signal.
(3) The motion measuring device according to (2) above.
The control unit is a motion measuring device having a calculation unit for extracting the motion feature amount and a modulation unit for generating the modulation signal.
(4) The motion measuring device according to (2) or (3) above.
The control unit is a motion measuring device that extracts the tangential velocity of the detection target as the first kinematic physical quantity.
(5) The motion measuring device according to any one of (2) to (4) above.
The control unit is a motion measuring device that extracts at least one of the acceleration, the normal acceleration, and the motion elevation angle of the detection target as the second kinematic physical quantity.
(6) The motion measuring device according to any one of (1) to (5) above.
The output unit is a motion measuring device including a sounding element capable of generating sound waves as the measurement signal.
(7) The motion measuring device according to any one of (1) to (5) above.
The output unit is a motion measuring device including a light emitting element capable of generating light as the measurement signal.
(8) The motion measuring device according to any one of (1) to (7) above.
The detection unit is a motion measuring device including an acceleration sensor unit that detects acceleration in the three axial directions.
(9) The motion measuring device according to (8) above.
The detection unit is a motion measuring device further including an angular velocity sensor unit that detects the angular velocity around the three axes.
(10) Based on the velocity-related information related to the temporal change of the velocity of the detection target moving in space in the three axial directions, the motion feature quantity including one or more kinematic physical quantities of the detection target is extracted. An information processing device including a control unit that generates a control signal for controlling an output unit that can generate a perceptible measurement signal that changes according to the motion feature quantity.
(11) The information processing apparatus according to (10) above.
An information processing device further comprising a detection unit for acquiring the speed-related information.
(12) Control to extract a motion feature quantity including one or a plurality of kinematic physical quantities of the detection target based on the velocity-related information related to the time change of the velocity of the detection target moving in space in the three axial directions. Department and
An information processing device including an output unit that generates a perceptible measurement signal that changes according to the motion feature amount.
(13) Acquire speed-related information related to the time change of the speed in the three axes of the detection target moving in space, and obtain the speed-related information.
Based on the velocity-related information, a kinematic feature quantity including one or a plurality of kinematic physical quantities to be detected is extracted.
A motion measurement method that generates a perceptible measurement signal that changes according to the motion feature amount.

1 to 7, 101 to 106 ... Exercise measuring device (exercise measuring system)
1A ... Sensor device 1B ... Terminal device 10 ... Detection unit 12 ... Accelerometer unit 13 ... Angle speed sensor unit 20 ... Control unit 21 ... Feature quantity extraction unit 30 ... Output unit 211 ... Calculation circuit 212 ... Signal generation circuit S0 ... Control signal S1 … First measurement signal S2a, S2b… Second measurement signal Sw… Measurement signal Vo… Speed-related information

Claims (12)

A detection unit that is attached to the detection target and detects speed-related information related to the time change of the speed in the three axial directions of the detection target that moves in space.
A control unit that extracts motion features including one or more kinematic physical quantities of the detection target based on the velocity-related information, and a control unit.
It is provided with an output unit that outputs a perceptible measurement signal that changes according to the motion feature amount.
The control unit extracts the first kinematic physical quantity and the second kinematic physical quantity as the kinematic feature quantity, and outputs the first measurement signal corresponding to the first kinematic physical quantity to the second. Generates a modulated signal modulated by the second measurement signal corresponding to the kinematic physical quantity of
The output unit is a motion measuring device that generates the measurement signal based on the modulated signal. The motion measuring device according to claim 1.
The control unit is a motion measuring device having a calculation unit for extracting the motion feature amount and a modulation unit for generating the modulation signal. The motion measuring device according to claim 1 or 2.
The control unit is a motion measuring device that extracts the tangential velocity of the detection target as the first kinematic physical quantity. The motion measuring device according to any one of claims 1 to 3.
The control unit is a motion measuring device that extracts at least one of the acceleration, the normal acceleration, and the motion elevation angle of the detection target as the second kinematic physical quantity. The motion measuring device according to any one of claims 1 to 4.
The output unit is a motion measuring device including a sounding element capable of generating sound waves as the measurement signal. The motion measuring device according to any one of claims 1 to 4.
The output unit is a motion measuring device including a light emitting element capable of generating light as the measurement signal. The motion measuring device according to any one of claims 1 to 6.
The detection unit is a motion measuring device including an acceleration sensor unit that detects acceleration in the three axial directions. The motion measuring device according to claim 7.
The detection unit is a motion measuring device further including an angular velocity sensor unit that detects the angular velocity around the three axes. Based on the velocity-related information related to the time change of the velocity of the detection target moving in space in the three axial directions, the motion feature quantity including one or more kinematic physical quantities of the detection target is extracted, and the motion feature is extracted. It is equipped with a control unit that generates a control signal for controlling an output unit that can generate a perceptible measurement signal that changes according to a quantity.
The control unit extracts the first kinematic physical quantity and the second kinematic physical quantity as the kinematic feature quantity, and outputs the first measurement signal corresponding to the first kinematic physical quantity to the second. An information processing device that generates a modulated signal for generating the measurement signal, which is modulated by a second measurement signal corresponding to the kinematic physical quantity of the above. The information processing device according to claim 9.
An information processing device further comprising a detection unit for acquiring the speed-related information. A control unit that extracts a motion feature quantity including one or a plurality of kinematic physical quantities of the detection target based on the velocity-related information related to the time change of the velocity of the detection target moving in space in the three axial directions.
It is provided with an output unit that generates a perceptible measurement signal that changes according to the motion feature amount.
The control unit extracts the first kinematic physical quantity and the second kinematic physical quantity as the kinematic feature quantity, and outputs the first measurement signal corresponding to the first kinematic physical quantity to the second. Generates a modulated signal modulated by the second measurement signal corresponding to the kinematic physical quantity of
The output unit is an information processing device that generates the measurement signal based on the modulation signal. Acquires velocity-related information related to the temporal change of the velocity of the detection target moving in space in the three axial directions.
Based on the velocity-related information, a first kinematic physical quantity and a second kinematic physical quantity are extracted as kinematic feature quantities including one or a plurality of kinematic physical quantities to be detected.
A modulated signal obtained by modulating the first measurement signal corresponding to the first kinematic physical quantity with the second measurement signal corresponding to the second kinematic physical quantity is generated.
A motion measurement method that generates a perceptible measurement signal that changes according to the motion feature amount based on the modulated signal.

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